Flexible mechanical arm and control method thereof

A control method and technology of robotic arms, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve problems such as not being well applicable to a wide range of tasks and environments, low degree of freedom of movement, and inability to change its own shape and size.

Inactive Publication Date: 2016-05-25
EAST CHINA JIAOTONG UNIVERSITY
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  • Summary
  • Abstract
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  • Claims
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Problems solved by technology

However, because its general rigid body actuator is composed of a rigid structure, this determines the limited operability and adaptability of this type of manipulator, and its movement ability is limited in environ

Method used

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  • Flexible mechanical arm and control method thereof

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[0030] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0031] See figure 1 As shown, a flexible robotic hand of the present invention includes a hand-shaped body, a drive assembly 3, and a control assembly 2. The fingers of the hand-shaped body include a number of execution bodies 1, and the execution body 1 includes an elastic cavity , The elastic cavity is provided with a first fixing member that limits the radial expansion of the elastic cavity and a second fixing member that limits the axial expansion of one side of the elastic cavity, and the drive assembly 3 is connected to the elastic cavity and controls The pressure in the elastic cavity, the control assembly 2 includes a controller that controls the drive assembly 3, a bending sensor arranged along the axis of the elastic cavity, and an inertial sensor arranged at intervals along the axis of the elastic cavity, one end is located in the elastic cavity Th...

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Abstract

The invention discloses a flexible mechanical arm and a control method thereof and aims at achieving the effects that the flexible mechanical arm can be simple in structure, and the structure can be changed so as to adapt to various environments. According to the technical scheme, the flexible mechanical arm mainly comprises a hand-shaped body, a driving assembly and a control assembly, when the pressure of an elastic cavity in the hand-shaped body is changed, the elastic cavity is bent or is changed from the bent state to the straightened state, due to the fact that the elastic cavity can have deformation, when an execution body abuts against a contact object, the execution body can have self deformation so as to be adapted to the contact object, and the driving assembly for controlling the pressure in the elastic cavity is arranged, so that the pressure in the elastic cavity is increased or decreased, and precise detection and control are achieved through the control assembly.

Description

technical field [0001] The present invention relates to, more precisely relates to a kind of flexible robot hand and its control method. Background technique [0002] Traditional rigid body actuators are controlled by their rigid structure and torque (torque) and position (force) sensors, such as manipulators, etc. These rigid body actuators can be better used in industrial production, such as grasping assembly processes and spot welding craft etc. However, because its general rigid body actuator is composed of a rigid structure, this determines the limited operability and adaptability of this type of manipulator, and its movement ability is limited in environments such as uncertain or continuous non-conductive environments, such as freedom of movement. The low density and the inability to change shape and size make them unsuitable for a wide range of tasks and environments. Contents of the invention [0003] The technical problem to be solved by the present invention is...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J13/08
CPCB25J13/08B25J15/12
Inventor 陈鹏展张武卫张景龙茹岩张欣杨希
Owner EAST CHINA JIAOTONG UNIVERSITY
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